Revert "updates to the matchers to reflect the attribute changes on the edges"

from autocnet.transformation.decompose import coupled_decomposition

def decompose(self, subset=False, k=2, maxiteration=2, size=18,

              buf_dist=3, ndv=None, **kwargs):

def decompose_and_match(self, k=2, maxiteration=3, size=18, buf_dist=3,**kwargs):

    """

    Similar to match, this method first decomposed the image into

    $4^{maxiteration}$ subimages and applys matching between each sub-image.

    k : int

        The number of neighbors to find

    method : {'coupled', 'whole'}

             whether to utilize coupled decomposition

             or match the whole image

    maxiteration : int

                   When using coupled decomposition, the number of recursive

                   divisions to apply.  The total number of resultant

               the (sub)image a point must be in order to be used as a

               partioning point.  The smaller the distance, the more likely

               percision errors can results in erroneous partitions.

    ndv : float

          The no data value that will be masked when computing the radial

          correlation.

    """

    def func(group):

        ratio = 0.8

        res = [False] * len(group)

        if len(res) == 1:

            return [single]

        if group.iloc[0] < group.iloc[1] * ratio:

            res[0] = True

        return res

    # Grab the original image arrays

    sdata = self.source.get_array()

    ddata = self.destination.get_array()

    ssize = sdata.shape

    dsize = ddata.shape

    sdata[sdata == ndv] = np.nan

    ddata[ddata == ndv] = np.nan

    matches, _ = self.clean(['ratio'])

    sidx = matches['source_idx']

    didx = matches['destination_idx']

    # Grab all the available candidate keypoints

    skp = self.source.get_keypoints().loc[sidx]

    dkp = self.destination.get_keypoints().loc[didx]

    skp = self.source.get_keypoints()

    dkp = self.destination.get_keypoints()

    # Set up the membership arrays

    self.smembership = np.zeros(sdata.shape, dtype=np.int16)

    self.smembership[:] = -1

    self.dmembership[:] = -1

    pcounter = 0

    # FLANN Matcher

    fl= FlannMatcher()

    for k in range(maxiteration):

        partitions = np.unique(self.smembership)

        npartitions = len(partitions)

        for p in partitions:

            sy_part, sx_part = np.where(self.smembership == p)

            dy_part, dx_part = np.where(self.dmembership == p)

            mindx = np.min(dx_part)

            maxdx = np.max(dx_part) + 1

            # Clip the sub image from the full images (this is a MBR)

            # Clip the sub image from the full images

            asub = sdata[minsy:maxsy, minsx:maxsx]

            bsub = ddata[mindy:maxdy, mindx:maxdx]

            # Approximate the mid point of the partition as the mean of the matched keypoints

            sub_skp = skp.query('x >= {} and x <= {} and y >= {} and y <= {}'.format(minsx, maxsx,

                                                                                 minsy, maxsy))

            # Utilize the FLANN matcher to find a match to approximate a center

            fl.add(self.destination.descriptors, self.destination['node_id'])

            fl.train()

            scounter = 0

            decompose = False

            while True:

                sub_skp = skp.query('x >= {} and x <= {} and y >= {} and y <= {}'.format(minsx, maxsx, minsy, maxsy))

                # Check the size to ensure a valid return

                if len(sub_skp) == 0:

                    break # No valid keypoints in this (sub)image

                if size > len(sub_skp):

                    size = len(sub_skp)

                candidate_idx = np.random.choice(sub_skp.index, size=size, replace=False)

                candidates = self.source.descriptors[candidate_idx]

                matches = fl.query(candidates, self.source['node_id'], k=3, index=candidate_idx)

                # Apply Lowe's ratio test to try to find a 'good' starting point

                mask = matches.groupby('source_idx')['distance'].transform(func).astype('bool')

                candidate_matches = matches[mask]

                match_idx = candidate_matches['source_idx'].astype(np.int)

                # Extract those matches that pass the ratio check

                sub_skp = skp.iloc[match_idx]

                # Check that valid points remain

                if len(sub_skp) == 0:

                    break

                # Locate the candidate closest to the middle of all of the matches

                smx, smy = sub_skp[['x', 'y']].mean()

                mid = np.array([[smx, smy]])

                dists = cdist(mid, sub_skp[['x', 'y']])

                closest = sub_skp.iloc[np.argmin(dists)]

                closest_idx = closest.name

                soriginx, soriginy = closest[['x', 'y']]

                # Grab the corresponding point in the destination

            dest_idx = matches[matches['source_idx'] == closest_idx]['destination_idx']

            dest_pt = dkp.loc[dest_idx]

            doriginx, doriginy = dest_pt[['x', 'y']].values[0]

            # Sub image origin is assumed to be 0,0 (local sub-image space), while match point origins are

            # in the full image space.  Shift the match point orign to be in the sub-image space if needed

            soriginx -= minsx

            soriginy -= minsy

            doriginx -= mindx

            doriginy -= mindy

            # Apply coupled decomposition

                q = candidate_matches.query('source_idx == {}'.format(closest.name))

                dest_idx = int(q['destination_idx'].iat[0])

                doriginx = dkp.at[dest_idx, 'x']

                doriginy = dkp.at[dest_idx, 'y']

                if mindy + buf_dist <= doriginy <= maxdy - buf_dist\

                 and mindx + 3 <= doriginx <= maxdx - 3:

                    # Point is good to split on

                    decompose = True

                    break

                else:

                    scounter += 1

                    if scounter >= maxiteration:

                        break

            # Clear the Flann matcher for reuse

            fl.clear()

            # Check that the identified match falls within the (sub)image

            # This catches most bad matches that have passed the ratio check

            if not (buf_dist <= doriginx - mindx <= bsub.shape[1] - buf_dist) or not\

                   (buf_dist <= doriginy - mindy <= bsub.shape[0] - buf_dist):

                   decompose = False

            if decompose:

                # Apply coupled decomposition, shifting the origin to the sub-image

                s_submembership, d_submembership = coupled_decomposition(asub, bsub,

                                                                     sorigin=(soriginx, soriginy),

                                                                     dorigin=(doriginx, doriginy))

                                                                     sorigin=(soriginx - minsx, soriginy - minsy),

                                                                     dorigin=(doriginx - mindx, doriginy - mindy),

                                                                     **kwargs)

                # Shift the returned membership counters to a set of unique numbers

                s_submembership += pcounter

                d_submembership += pcounter

                # And assign membership

                self.smembership[minsy:maxsy,

                            minsx:maxsx] = s_submembership

            sdy = dy_part - min(dy_part)

            sdx = dx_part - min(dx_part)

            self.dmembership[dy_part, dx_part] = d_submembership[sdy, sdx]

                self.dmembership[mindy:maxdy,

                            mindx:maxdx] = d_submembership

                pcounter += 4

def decompose_and_match(self, **kwargs):

    decompose(self, **kwargs)

    # Now match the decomposed segments to one another

    for p in np.unique(self.smembership):

        sy_part, sx_part = np.where(self.smembership == p)

import warnings

import cudasift as cs

def extract_features(array, nfeatures=None, **kwargs):

def extract_features(array, nfeatures=None):

    if not nfeatures:

        nfeatures = int(max(array.shape) / 1.75)

    else:

        warnings.warn('NFeatures specified with the CudaSift implementation.  Please ensure the distribution of keypoints is what you expect.')

    siftdata = cs.PySiftData(nfeatures)

    cs.ExtractKeypoints(array, siftdata, **kwargs)

    cs.ExtractKeypoints(array, siftdata)

    keypoints, descriptors = siftdata.to_data_frame()

    keypoints = keypoints[['x', 'y', 'scale', 'sharpness', 'edgeness', 'orientation', 'score', 'ambiguity']]

    # Set the columns that have unfilled values to zero to avoid confusion

    # Set the matches and set the 'ratio' (ambiguity) mask

    self.matches = df

    self.masks['ratio'] = df['ambiguity'] <= ratio

    self.masks = ('ratio', df['ambiguity'] <= ratio)

import pandas as pd

from autocnet.matcher.feature import FlannMatcher

def match(self, k=2, **kwargs):

        _add_matches(matches)

        fl.clear()

    # TODO: This should be converted to a decorator on the class

    # TODO: This entire method should never have access to the class

    self.masks = pd.DataFrame()

    fl = FlannMatcher()

    mono_matches(self.source, self.destination, **kwargs)

    # Since this matches bidirectionally

    if 'aidx' in kwargs.keys():

        if not 'bidx' in kwargs.keys():

            kwargs['bidx'] = None

        kwargs['aidx'], kwargs['bidx'] = kwargs['bidx'], kwargs['aidx']

    mono_matches(self.destination, self.source, **kwargs)

    self.matches.sort_values(by=['distance'])